WO2021144865A1

WO2021144865A1 - Component supply unit storage and retrieval system

Info

Publication number: WO2021144865A1
Application number: PCT/JP2020/000932
Authority: WO
Inventors: 正隆岩▲崎▼
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2021-07-22
Also published as: CN114762471B; EP4093174B1; JPWO2021144865A1; US20230064045A1; EP4093174A1; EP4093174A4; CN114762471A

Abstract

A component supply unit storage and retrieval system according to the present invention comprises: a unit container that contains a plurality of component supply units used when supplying a plurality of components to a component placement machine; a container holding platform that holds the unit container; a unit repository that stores more component supply units than the unit container; and a storage/retrieval robot that hands off the component supply units between the unit container and the unit repository.

Description

Parts supply unit warehousing / delivery system

This specification relates to a warehousing / delivery system that supports setup work involving warehousing of parts supply units from the warehouse.

The technology of mass-producing board products by performing board-to-board work on boards with printed wiring is widespread. Further, it is common to provide a plurality of types of board-to-board work machines for performing board-to-board work side by side to form a board-to-board work line. Among the board-to-board work machines, the component mounting machine uses a component supply unit loaded with a component container for accommodating a plurality of components. The loading operation of loading the component container into the component supply unit, in other words, the setup operation of preparing the component supply unit for use, is often performed in a setup area away from the operating component mounting machine (outside). Setup). Then, the set-up parts supply unit is transported to the parts mounting machine and equipped (internal setup).

Conventionally, the above-mentioned loading work and equipment work on the parts mounting machine have been carried out manually, which requires a lot of time and effort. In addition, the loading work is carried out ahead of schedule to ensure that the production plan is achieved, which increases the number of in-process parts supply units that cannot be used for other purposes. For this reason, management becomes complicated, and even more time and effort is required. In recent years, a container loader that automates at least a part of loading work has been put into practical use for the purpose of labor saving. A technical example relating to the automation of loading work and equipment work is disclosed in Patent Document 1.

In the second embodiment of Patent Document 1, a storage for storing a reel (an example of a parts container), a storage for storing a feeder (an example of a parts supply unit), a reel setting device, a transfer device, and a management unit are provided. The configuration to be provided is described. The reel setting device performs setup work for setting the reel on the feeder. The transport device transports the set-up feeder to the component mounting machine. The management unit controls the delivery of reels and feeders, setup work, transfer operation, etc., and manages the production of parts mounting machines. According to this, it is said that the combination and location of the reel and the feeder can be easily grasped, and these can be easily managed.

International Publication No. 2019/142336

By the way, in the reel set device of Patent Document 1, it is preferable that the loading operation is automated. However, this loading operation is not always efficient because it is performed one by one in order.

In this specification, it is an issue to be solved to provide a parts supply unit warehousing / delivery system that streamlines the setup work involving the warehousing of the parts supply unit from the warehouse.

In the present specification, a unit storage device for storing a plurality of parts supply units used when supplying a plurality of parts to a parts mounting machine, a storage device holding table for holding the unit storage device, and the unit storage device are described. A parts supply unit warehousing / delivery system including a unit warehouse that stores a larger number of the parts supply units than they are stored, and a warehousing / delivery robot that transfers the parts supply unit between the unit storage device and the unit warehouse. To disclose.

In the parts supply unit warehousing / delivery system disclosed in this specification, the warehousing / delivery robot automatically performs the work of unloading a plurality of parts supply units from the unit warehouse and storing them in the unit storage device. Then, the plurality of parts supply units housed in the unit storage device are collectively used for the subsequent setup work, or are collectively mounted on the parts mounting machine. Therefore, the setup work can be made more efficient as compared with the conventional technique in which the component supply units are set up one by one.

It is a perspective view which shows typically the structure of the warehousing / delivery system of the parts supply unit of 1st Embodiment. It is a front view which shows typically the structure of the warehousing / delivery system of the parts supply unit of 1st Embodiment. It is a functional block diagram which shows the structure of the control in 1st Embodiment. It is a figure of the operation flow explaining the control operation of the warehousing / delivery control part in 1st Embodiment. It is a top view which shows typically the warehousing system of the parts supply unit of 2nd Embodiment.

1. 1. Configuration of the warehousing / delivery system 1 of the parts supply unit of the first embodiment Regarding the configuration of the warehousing / delivery system 1 of the parts supply unit of the first embodiment, refer to the configuration diagrams of FIGS. 1 and 2 and the functional block diagram of FIG. I will explain. The warehousing / delivery system 1 corresponds to the loading work of loading the parts container 91 into the parts supply unit 92 and the related work before and after the loading work. The warehousing / delivery system 1 is composed of a unit warehouse 2, a storage device holding table 3, unit storage devices (41, 44), a warehousing / delivery robot 5, and the like.

The parts container 91 is loaded into the parts supply unit 92 while accommodating a plurality of parts. The parts supply unit 92 is used when supplying the parts housed in the parts container 91 in the mounting work performed by the parts mounting machine 98. An identification code representing each type or individual is attached to the parts container 91 and the parts supply unit 92. The identification code of the component container 91 includes information indicating the type of the component housed in the component container 91. A bar code, a two-dimensional code, or the like is used as the identification code. When the component container 91 is loaded into the component supply unit 92, the identification codes of both are read by a code reader. As a result, the loading information V (see FIG. 3) for associating the individual component container 91 with the individual component supply unit 92 loaded with the component container 91 is created.

The tape reel can be exemplified as the component container 91, and the integrated feeder device in which the tape reel is directly loaded can be exemplified as the component supply unit 92. A carrier tape in which a large number of parts are enclosed at a predetermined pitch is wound and held on the tape reel. The feeder device is mounted on the component mounting machine 98 in the form of being loaded with a tape reel. The feeder device pulls out the carrier tape from the tape reel and sends the carrier tape to the component take-out position to supply the component to the component mounting tool of the component mounting machine 98. When the parts mounting work progresses and the tape reel parts are exhausted, the entire feeder device is replaced.

The feeder device is not limited to the integrated type, but there is also a separate type. The separate feeder device includes a feeder main body having a carrier tape feeding mechanism and a reel cassette into which a tape reel is loaded. The feeder main body is permanently installed in the component mounting machine 98, and the separate reel cassette is arranged near the feeder main body. When the parts mounting work progresses and the tape reel parts are exhausted, the reel cassette is replaced. The reel cassette corresponds to the parts supply unit 92 for loading the parts container 91.

Hereinafter, a case where the parts supply unit 92 is an integrated feeder device and a tape reel as a parts container 91 is already loaded will be described. A tray can be used as the component container 91, and a tray loading unit can be used as the component supply unit 92.

The unit warehouse 2 stores a larger number of parts supply units 92 than the unit storage devices (41, 44) described later. As shown in FIGS. 1 and 2, the unit warehouse 2 is formed in the shape of a large vertical rectangular parallelepiped. The unit warehouse 2 has an entry / exit port 21 on the front surface. Not limited to this, the warehousing port and the warehousing port may be provided separately. The parts supply unit 92 loaded with the parts container 91 is warehousing from the warehousing / delivery port 21 by an operator.

An upper section guide 26 extending in the left-right direction is provided below the entrance / exit 21 on the front surface of the unit warehouse 2. A lower section guide 27 extending in the left-right direction is provided at the lowermost part of the front surface of the unit warehouse 2. The upper section guide 26 and the lower section guide 27 are formed, for example, in a convex shape protruding forward or a groove shape opening upward.

As shown in FIG. 3, a plurality of storage positions, an actuator 22, and a code reader 23 are provided inside the unit warehouse 2. The actuator 22 transfers the parts container 91 stored in the warehousing / delivery port 21 to the storage position, and also transfers the parts storage device 91 in the storage position to the warehousing / delivery port 21. The actuator 22 is controlled by the warehouse control unit 29.

The code reader 23 reads the identification code attached to the warehousing parts supply unit 92, and delivers the read result to the warehouse control unit 29. Therefore, the warehouse control unit 29 can recognize all the individual parts supply units 92 that are stored in association with the storage position. Further, the warehouse control unit 29 can recognize the component container 91 loaded in each of the component supply units 92 with reference to the loading information V. A warning light 24 is provided on the right front side of the upper part of the unit warehouse 2. The warehouse control unit 29 controls the lighting of the warning light 24 when an abnormality occurs or a failure occurs, and notifies the operator.

As shown in FIGS. 1 and 2, the storage device holding table 3 is arranged adjacent to the left side of the unit warehouse 2. Not limited to this, the storage device holding table 3 may be arranged on the right side of the unit warehouse 2. The storage device holding base 3 holds the unit storage devices (41, 44) on the upper side. The storage device holding base 3 is formed in the shape of a rectangular parallelepiped frame. An upper section guide 32 extending in the left-right direction is provided on the upper part of the front surface of the storage device holding table 3. A lower section guide 33 extending in the left-right direction is provided at the lower part of the front surface of the storage device holding table 3. The upper section guide 32 and the lower section guide 33 are arranged at the same height as the upper section guide 26 and the lower section guide 27 of the unit warehouse 2 and are formed in the same shape.

The storage device holder 3 can be expanded. When expanding, the plurality of storage device holders 3 are arranged adjacent to each other in the left-right direction. Further, the plurality of storage device holding stands 3 may be dispersedly arranged on both the left and right sides of the unit warehouse 2. As a result, the plurality of upper section guides 32 are connected side by side in the left-right direction and further connected to the upper section guide 26 of the unit warehouse 2 to form a long movement guide. Similarly, the plurality of lower section guides 33 are connected side by side in the left-right direction and further connected to the lower section guides 27 of the unit warehouse 2 to form a long movement guide.

Of the three storage device holding tables 3 shown in FIGS. 1 and 2, the full-width unit storage device 41 is held on the right side and above the central storage device holding table 3. Further, two half-width unit storage devices 44 are held on the upper side of the storage device holding table 3 on the left side. The width dimension of the full width unit storage unit 41 is slightly smaller than the width dimension of the component mounting machine 98. The width dimension of the half-width unit storage device 44 is about half the width dimension of the full-width unit storage device 41.

The unit storage device (41, 44) stores a plurality of parts supply units 92. A plurality of storage slots arranged in the left-right direction are formed on the inner bottom surface of the unit storage devices (41, 44). The storage slot is formed by, for example, a groove extending in the front-rear direction, and the component supply unit 92 is inserted from the front side and stored. In FIGS. 1 and 2, one component supply unit 92 is illustrated in the full-width unit storage device 41 on the right side, and in reality, a large number of component supply units 92 are housed side by side. The number of storage slots in the half-width unit storage device 44 is half that of the full-width unit storage device 41.

The full-width unit storage device 41 is installed in the parts mounting machine 98 and becomes the main part of the parts supply device. Similarly, the two half-width unit accommodators 44 are mounted on the component mounting machine 98 and become the main part of the component supply device. Not limited to this, the unit storage devices (41, 44) are not equipped in the parts mounting machine 98, and the setup work, transportation, etc. of the plurality of stored parts supply units 92 are collectively performed to improve efficiency. You may.

The warehousing / delivery robot 5 delivers the set-up parts supply unit 92 loaded with the parts storage 91 between the unit storages (41, 44) and the unit warehouse 2. The warehousing / delivery robot 5 is formed vertically. The warehousing / delivery robot 5 is provided with a guide member and a moving drive unit on the rear side. The guide member engages a movement guide composed of a plurality of section guides (26, 27, 32, 33). As a result, the entire weight of the warehousing / delivery robot 5 is supported by the movement guide, and the movement direction is defined. The mobile drive unit operates, for example, using a non-contact power supply device or a battery (not shown) as a power source. The moving drive unit is composed of, for example, a combination of traveling wheels and a drive motor, or a moving mechanism to which a linear motor is applied. As a result, the warehousing / delivery robot 5 moves the unit storage devices (41, 44) and the front side of the unit warehouse 2 along the movement guide.

The warehousing / delivery robot 5 is further provided with a unit holding space and a unit operation mechanism. The unit holding space is a space that is partitioned inside the warehousing / delivery robot 5 and opens rearward. The unit holding space temporarily holds the component supply unit 92 to be conveyed. The unit operating mechanism delivers the parts supply unit 92 between the unit holding space and the unit storage units (41, 44), and between the unit holding space and the entrance / exit 21 of the unit warehouse 2. At this time, the height of the warehousing / delivery robot 5 is properly maintained by the engagement of the guide member and the movement guide, so that the delivery operation is stabilized. The warehousing / delivery robot 5 is controlled by the warehousing / delivery control unit 8.

2. Configuration related to control of warehousing / delivery system 1 Next, a configuration related to control of warehousing / delivery system 1 will be described. As shown in FIG. 3, the warehousing / delivery control unit 8 is communicatively connected to the efficiency processing unit 95. The efficiency processing unit 95 is communicatively connected to the line control unit 96. Further, the line control unit 96 is communication-connected to each of a plurality of types of board-to-board work machines constituting the board-to-board work line 97. The board work line 97 is a production line for mass-producing board products by mounting components on the board. The component mounting machine 98 constituting the board-to-board work line 97 is equipped with pre-set unit accommodators (41, 44) and can supply components.

The efficiency improvement processing unit 95 carries out the efficiency improvement processing for improving the efficiency of the work on the substrate work line 97. As part of the efficiency processing, the efficiency processing unit 95 sets the storage positions of the plurality of component supply units 92 in the unit storage devices (41, 44) in order to streamline the component mounting work in the component mounting machine 98. Optimize. This efficiency improvement process is also called an optimization process, and various known techniques can be applied. The line control unit 96 controls the operation of the work line 97 for the substrate based on the result of the efficiency processing received from the efficiency processing unit 95.

On the other hand, the warehousing / delivery control unit 8 is communicated with the warehouse control unit 29 of the unit warehouse 2. In addition, the warehousing / delivery control unit 8 controls the warehousing / delivery robot 5. Further, the loading information storage unit 81 attached to the warehousing / delivery control unit 8 stores the loading information V. The warehousing / delivery control unit 8 includes a man-machine interface (input unit, display unit, wireless communication unit, etc.) for exchanging information with the operator.

Loading information V and various other information are appropriately transmitted and received between the above-mentioned control elements. Therefore, the warehousing / delivery control unit 8 can share the loading information V between the unit warehouse 2 and the component mounting machine 98. Further, each of the above-mentioned control elements does not have to be all independent hardware. For example, the warehousing / delivery control unit 8 and the warehouse control unit 29 may be realized by different software of one computer device. Further, for example, the warehousing / delivery control unit 8 may be realized as a partial function of the efficiency improvement processing unit 95. Further, the above-mentioned communication connection and information transmission may be performed by using a wireless communication device. The control functions of the warehousing / delivery control unit 8 and the like will be described in detail in the following description of the operation.

3. 3. Operation of the warehousing / delivery system 1 Next, the operation of the warehousing / delivery system 1 will be described with reference to FIG. In step S1 of FIG. 4, the warehousing / delivery control unit 8 acquires the result of the efficiency improvement process from the efficiency improvement process unit 95. The result of the efficiency processing includes the identification code of the component supply unit 92 to be used, and the information of the storage position in the unit storage device (41, 44). The storage position information is represented by, for example, a slot number indicating the position of the storage slot.

In the next step S2, the warehousing / delivery control unit 8 commands the warehouse control unit 29 with the identification code of the parts supply unit 92 to be used. The warehouse control unit 29 controls the actuator 22 according to a command, and transfers the component supply unit 92 to the warehousing / delivery port 21. In the next step S3, the warehousing / delivery control unit 8 commands the warehousing / delivery robot 5 to carry the robot. The warehousing / delivery robot 5 conveys the parts supply unit 92 of the warehousing / delivery port 21 to the unit storage devices (41, 44) according to a command.

In the next step S4, the warehousing / delivery control unit 8 instructs the warehousing / delivery robot 5 of the storage position in the unit storage devices (41, 44). The warehousing / delivery robot 5 stores the parts supply unit 92 at the commanded storage position. In the next step S5, the warehousing / delivery control unit 8 determines whether or not all the component supply units 92 included in the result of the efficiency improvement process are aligned in the unit accommodators (41, 44). Then, while the result is no, the warehousing / delivery control unit 8 repeatedly executes steps S2 to S5.

The operation flow ends when all the parts supply units 92 are prepared by repeating. At this point, the unit reservoirs (41, 44) are ready for use. The operator carries one full-width unit storage 41 or two half-width unit storages 44 to the component mounting machine 98 and equips them. In an example of this equipment work, the operator first connects a trolley (not shown) for transportation to the opposite side of the warehousing / delivery robot 5 of the storage device holding table 3. Secondly, the operator pulls out the unit storage devices (41, 44) from the storage device holding table 3, transfers them to the trolley, and transports them to the parts mounting machine 98. Thirdly, the operator connects the dolly to the equipment position of the component mounting machine 98. Finally, the operator transfers the unit storage devices (41, 44) from the trolley to the component mounting machine 98. As a result, the component mounting machine 98 is ready to supply the components. At this time, the loading information V is shared by the component mounting machine 98 by communication or the like.

In the warehousing / delivery system 1 of the parts supply unit of the first embodiment, the warehousing / delivery robot 5 automatically takes out a plurality of parts supply units 92 from the unit warehouse 2 and stores them in the unit storage devices (41, 44). conduct. Then, the plurality of parts supply units 92 housed in the unit storage devices (41, 44) are collectively used for the subsequent setup work, or are collectively mounted on the parts mounting machine 98. Therefore, the setup work can be made more efficient as compared with the conventional technique in which the component supply units 92 are set up one by one.

Further, the warehousing / delivery control unit 8 selectively controls a plurality of parts supply units 92 to be warehousing from the unit warehouse 2 based on the result of the efficiency improvement process, and further, the unit storage unit (41) of the plurality of parts supply units 92 to be warehousing. , 44) Control the storage position. According to this, following the efficiency improvement process, the setup of the unit accommodators (41, 44) to be mounted on the component mounting machine 98 can be carried out in a timely manner. Further, since the storage positions of the plurality of component supply units 92 in the unit storage devices (41, 44) are automatically controlled, there is no possibility that the storage positions are erroneous. Further, since the unit warehouse 2 for storing the parts supply unit 92 and the storage device holding base 3 for storing in the unit storage devices (41, 44) are arranged adjacent to each other, a space-saving system configuration is realized. NS.

4. The warehousing / delivery system 1A of the parts supply unit of the second embodiment
Next, the warehousing / delivery system 1A of the second embodiment will be mainly described as being different from the first embodiment with reference to FIG. As shown in FIG. 5, in the second embodiment, the travel path 65 and the transport vehicle 66 are added to the configuration of the first embodiment.

The runway 65 is laid from the rear side of the storage device holding table 3 on the left side over the board work line 97. The storage device holder 3 on the left side is a unloading station for carrying out the parts supply unit 92 loaded with the parts container 91 toward the parts mounting machine 98, and the parts supply used in the parts mounting machine 98. It also serves as a carry-in station for carrying in the unit 92. The transport vehicle 66 travels on the travel path 65 in accordance with a radio command from the warehousing / delivery control unit 8, and loads and unloads the half-width unit storage device 44. The transport vehicle 66 appropriately reports the progress of the transport operation to the warehousing / delivery control unit 8. The standby position of the transport vehicle 66 is set to the rear side of the storage device holding table 3 on the left side (shown in FIG. 5). The traveling path 65 may be laid over the plurality of board-to-board work lines 97, and the plurality of transport vehicles 66 may travel while avoiding a collision. Further, the transport vehicle 66 does not require a physical travel path 65, and may be an AGV in which the vehicle travels with reference to the travel path information on the map data.

In the above configuration, the transport vehicle 66 removes the half-width unit storage device 44, which is ready for use, from the storage device holding base 3 and loads it. The transport vehicle 66 then travels to the parts mounting machine 98 to transport the half-width unit storage device 44 and equips the parts mounting machine 98. Alternatively, the transport vehicle 66 hands the half-width unit storage device 44 to a worker beside the component mounting machine 98. Further, the transport vehicle 66 similarly transports the second half-width unit storage device 44. According to the second embodiment, in addition to storing the parts supply unit 92 in the half-width unit storage device 44, automation of the transportation work of the half-width unit storage device 44 is achieved.

5. Application and Modification of the Embodiment In the second embodiment, the transport vehicle 66 may return the half-width unit storage device 44 used in the component mounting machine 98 to the storage device holder 3. After that, the parts supply unit 92 is returned to the unit warehouse 2 and stored. At this time, the loading information V is shared in the unit warehouse 2 by communication or the like. Further, the transport vehicle 66 transports the half-width unit storage device 44 twice due to performance restrictions. However, by increasing the size of the transport vehicle 66 and improving its performance, it becomes possible to transport the full-width unit storage device 41. In addition, the first and second embodiments can be applied and modified in various ways.

1, 1A: Parts supply unit warehousing / delivery system 2: Unit warehouse 21: Entry / exit port 22: Actuator 23: Code reader 26: Upper section guide 27: Lower section guide 29: Warehouse control unit 3: Storage device holder 32 : Upper section guide 33: Lower section guide 41: Full width unit storage 44: Half width unit storage 5: Loading / unloading robot 66: Transport vehicle 8: Loading / unloading control unit 81: Loading information storage unit 91: Parts storage 92: Parts supply unit 95: Efficiency processing unit 98: Parts mounting machine V: Loading information

Claims

A unit storage device that stores multiple parts supply units used when supplying multiple parts to a parts mounting machine,
A storage device holding base for holding the unit storage device and
A unit warehouse that stores a larger number of the parts supply units than the unit storage unit stores, and a unit warehouse that stores the parts supply unit.
A warehousing / delivery robot that delivers the parts supply unit between the unit storage device and the unit warehouse,
A warehousing / delivery system for parts supply units equipped with.
The warehousing / delivery system further includes a movement guide provided from the storage holder holding table to the unit warehouse.
The warehousing / delivery robot moves along the movement guide.
The warehousing / delivery system for the parts supply unit according to claim 1.
The movement guide is the warehousing / delivery system for the parts supply unit according to claim 2, wherein section guides provided in the storage device holding table and the unit warehouse are arranged side by side in the moving direction of the warehousing / delivery robot.
The storage / delivery system for the parts supply unit according to claim 3, wherein the storage device holding stand can be expanded.
The unit storage system is a warehousing / delivery system for a parts supply unit according to any one of claims 1 to 4, which is installed in the parts mounting machine.
The warehousing / delivery system for a parts supply unit according to claim 5, further comprising a transport vehicle for transporting the unit storage device containing a plurality of the parts supply units to the parts mounting machine.
In order to streamline the mounting work of the parts in the parts mounting machine, the goods are delivered from the unit warehouse based on the result of the efficiency processing for optimizing the storage positions of the plurality of the parts supply units in the unit storage device. The fifth or sixth aspect of the present invention, further comprising a warehousing / delivery control unit that selectively controls a plurality of the parts supply units to be used and further controls the storage position of the plurality of the parts supply units in the unit storage unit. Warehousing / delivery system for parts supply units.
The component supply unit according to claim 7, further comprising a loading information storage unit that stores loading information in which the individual component container and the individual component supply unit loaded with the component container are associated with each other. Entry / exit system.
The component supply unit is formed separately from a feeder device in which a tape reel around which carrier tapes accommodating a plurality of the components are wound is loaded, or a feeder main body having a carrier tape feeding mechanism. The warehousing / delivery system for a parts supply unit according to any one of claims 1 to 8, which is a reel cassette into which a tape reel is loaded.